further improvements

orgua · Apr 30, 2024 · d36e575 · d36e575
1 parent db72836
commit d36e575
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Showing 3 changed files with 9 additions and 5 deletions.
diff --git a/software/firmware/pru1-shepherd-fw/main.c b/software/firmware/pru1-shepherd-fw/main.c
@@ -338,7 +338,7 @@ int32_t event_loop(volatile struct SharedMem *const shared_mem)
             continue; // for more regular gpio-sampling
         }
 
-        /*  [Event 2] Timer compare 0 handle -> trigger for buffer swap on pru0 */
+        /*  [Event 2] Timer compare 0 handle -> buffer swap on pru0 */
         if (shared_mem->cmp0_trigger_for_pru1)
         {
             DEBUG_EVENT_STATE_2;
@@ -365,6 +365,7 @@ int32_t event_loop(volatile struct SharedMem *const shared_mem)
                 pru0_sum_ticks_for_buffer                            = 0;
                 pru0_max_ticks_per_sample                            = 0;
             }
+            // TODO: add warning for when sync not idle?
 
             /* more maintenance */
             last_analog_sample_ticks = 0;
@@ -373,7 +374,7 @@ int32_t event_loop(volatile struct SharedMem *const shared_mem)
             continue; // for more regular gpio-sampling
         }
 
-        /* [Event 3] Timer compare 1 handle -> trigger for analog sample on pru0 */
+        /* [Event 3] Timer compare 1 handle -> analog sampling on pru0 */
         if (shared_mem->cmp1_trigger_for_pru1)
         {
             /* prevent a race condition (cmp0_event has to happen before cmp1_event!) */

diff --git a/software/kernel-module/src/pru_msg_sys.c b/software/kernel-module/src/pru_msg_sys.c
@@ -232,6 +232,9 @@ static enum hrtimer_restart coordinator_callback(struct hrtimer *timer_for_resta
                                     "-> backpressure (val=%u)",
                            had_work & 1u, pru_msg.value[0]);
                     break;
+                case MSG_ERR_INCMPLT:
+                case MSG_ERR_INVLDCMD:
+                case MSG_ERR_NOFREEBUF: break;
                 case MSG_ERR_TIMESTAMP:
                     printk(KERN_ERR "shprd.pru%u: received timestamp is faulty (val=%u)",
                            had_work & 1u, pru_msg.value[0]);
@@ -255,7 +258,7 @@ static enum hrtimer_restart coordinator_callback(struct hrtimer *timer_for_resta
                     break;
                 default:
                     /* these are all handled in userspace and will be passed by sys-fs */
-                    printk(KERN_ERR "shprd.k: received invalid command / msg-type (%02X) "
+                    printk(KERN_ERR "shprd.k: received invalid command / msg-type (0x%02X) "
                                     "from pru%u",
                            pru_msg.type, had_work & 1u);
             }

diff --git a/software/python-package/shepherd_sheep/shepherd_emulator.py b/software/python-package/shepherd_sheep/shepherd_emulator.py
@@ -236,7 +236,7 @@ def run(self) -> None:
             idx, emu_buf = self.get_buffer(verbose=self.verbose_extra)
 
             if emu_buf.timestamp_ns / 1e9 >= ts_end:
-                log.warning("UNEXPECTED! Out of bound timestamp collected -> begin to exit now")
+                log.debug("FINISHED! Out of bound timestamp collected -> begin to exit now")
                 break
 
             if self.writer is not None:
@@ -257,7 +257,7 @@ def run(self) -> None:
             while True:
                 idx, emu_buf = self.get_buffer(verbose=self.verbose_extra)
                 if emu_buf.timestamp_ns / 1e9 >= ts_end:
-                    log.warning("UNEXPECTED! Out of bound timestamp collected -> begin to exit now")
+                    log.debug("FINISHED! Out of bound timestamp collected -> begin to exit now")
                     return
                 if self.writer is not None:
                     self.writer.write_buffer(emu_buf)